Coordinated joint motion control system with position error correction
Abstract
Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.
- Inventors:
- Issue Date:
- Research Org.:
- Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno, NV (United States)
- Sponsoring Org.:
- USDOE
- OSTI Identifier:
- 1245438
- Patent Number(s):
- 9304501
- Application Number:
- 14/798,254
- Assignee:
- Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno (Reno, NV)
- Patent Classifications (CPCs):
-
B - PERFORMING OPERATIONS B25 - HAND TOOLS B25J - MANIPULATORS
E - FIXED CONSTRUCTIONS E02 - HYDRAULIC ENGINEERING E02F - DREDGING
- DOE Contract Number:
- FC26-04NT42087
- Resource Type:
- Patent
- Resource Relation:
- Patent File Date: 2015 Jul 13
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 42 ENGINEERING; 97 MATHEMATICS AND COMPUTING
Citation Formats
Danko, George L. Coordinated joint motion control system with position error correction. United States: N. p., 2016.
Web.
Danko, George L. Coordinated joint motion control system with position error correction. United States.
Danko, George L. Tue .
"Coordinated joint motion control system with position error correction". United States. https://www.osti.gov/servlets/purl/1245438.
@article{osti_1245438,
title = {Coordinated joint motion control system with position error correction},
author = {Danko, George L.},
abstractNote = {Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Apr 05 00:00:00 EDT 2016},
month = {Tue Apr 05 00:00:00 EDT 2016}
}
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